#include <simulated2D.h>

Inheritance diagram for simulated2D::GenericMeasurement< POSE, LANDMARK >:

[legend]

Public Types
typedef NoiseModelFactorN< POSE, LANDMARK >	Base
	base class More...

typedef LANDMARK	Landmark
	shortcut to Landmark type More...

typedef POSE	Pose
	shortcut to Pose type More...

typedef std::shared_ptr< GenericMeasurement< POSE, LANDMARK > >	shared_ptr

typedef GenericMeasurement< POSE, LANDMARK >	This

Public Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const Pose &x1, const Landmark &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
	Evaluate error and optionally return derivatives. More...

	GenericMeasurement (const Landmark &measured, const SharedNoiseModel &model, Key i, Key j)
	Create measurement factor. More...

	~GenericMeasurement () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Vector	unweightedWhitenedError (const Values &c) const

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &c) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Public Attributes
Landmark	measured_
	Measurement. More...

Private Member Functions
	GenericMeasurement ()
	Default constructor. More...

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< POSE, LANDMARK >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class POSE, class LANDMARK>
class simulated2D::GenericMeasurement< POSE, LANDMARK >

Binary factor simulating "measurement" between two Vectors

Definition at line 228 of file simulated2D.h.

Member Typedef Documentation

◆ Base

template<class POSE , class LANDMARK >

typedef NoiseModelFactorN<POSE, LANDMARK> simulated2D::GenericMeasurement< POSE, LANDMARK >::Base

base class

Definition at line 230 of file simulated2D.h.

◆ Landmark

template<class POSE , class LANDMARK >

typedef LANDMARK simulated2D::GenericMeasurement< POSE, LANDMARK >::Landmark

shortcut to Landmark type

Definition at line 234 of file simulated2D.h.

◆ Pose

template<class POSE , class LANDMARK >

typedef POSE simulated2D::GenericMeasurement< POSE, LANDMARK >::Pose

shortcut to Pose type

Definition at line 233 of file simulated2D.h.

◆ shared_ptr

template<class POSE , class LANDMARK >

typedef std::shared_ptr<GenericMeasurement<POSE, LANDMARK> > simulated2D::GenericMeasurement< POSE, LANDMARK >::shared_ptr

Definition at line 232 of file simulated2D.h.

◆ This

template<class POSE , class LANDMARK >

typedef GenericMeasurement<POSE, LANDMARK> simulated2D::GenericMeasurement< POSE, LANDMARK >::This

Definition at line 231 of file simulated2D.h.

Constructor & Destructor Documentation

◆ GenericMeasurement() [1/2]

template<class POSE , class LANDMARK >

simulated2D::GenericMeasurement< POSE, LANDMARK >::GenericMeasurement	(	const Landmark &	measured,
		const SharedNoiseModel &	model,
		Key	i,
		Key	j
	)

inline

Create measurement factor.

Definition at line 242 of file simulated2D.h.

◆ ~GenericMeasurement()

template<class POSE , class LANDMARK >

simulated2D::GenericMeasurement< POSE, LANDMARK >::~GenericMeasurement ( )

inlineoverride

Definition at line 252 of file simulated2D.h.

◆ GenericMeasurement() [2/2]

template<class POSE , class LANDMARK >

simulated2D::GenericMeasurement< POSE, LANDMARK >::GenericMeasurement ( )

inlineprivate

Default constructor.

Definition at line 262 of file simulated2D.h.

Member Function Documentation

◆ clone()

template<class POSE , class LANDMARK >

gtsam::NonlinearFactor::shared_ptr simulated2D::GenericMeasurement< POSE, LANDMARK >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 255 of file simulated2D.h.

◆ evaluateError()

template<class POSE , class LANDMARK >

Vector simulated2D::GenericMeasurement< POSE, LANDMARK >::evaluateError	(	const Pose &	x1,
		const Landmark &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Evaluate error and optionally return derivatives.

Definition at line 247 of file simulated2D.h.

Member Data Documentation

◆ measured_

template<class POSE , class LANDMARK >

Landmark simulated2D::GenericMeasurement< POSE, LANDMARK >::measured_

Measurement.

Definition at line 239 of file simulated2D.h.

The documentation for this class was generated from the following file:

simulated2D.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

template<class POSE, class LANDMARK> class simulated2D::GenericMeasurement< POSE, LANDMARK >

Member Typedef Documentation

◆ Base

◆ Landmark

◆ Pose

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GenericMeasurement() [1/2]

◆ ~GenericMeasurement()

◆ GenericMeasurement() [2/2]

Member Function Documentation

◆ clone()

◆ evaluateError()

Member Data Documentation

◆ measured_

template<class POSE, class LANDMARK>
class simulated2D::GenericMeasurement< POSE, LANDMARK >